Release update 2026-11-05: new sessions, instructions, annotations (part 234)
Browse files- actions/locomanipulation/LM27/session_018/motions/smplx.npz +2 -2
- actions/locomanipulation/LM27/session_019/annotations.json +28 -0
- actions/locomanipulation/LM27/session_019/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM27/session_019/cameras/slam.npz +3 -0
- actions/locomanipulation/LM27/session_019/meta.json +116 -2
- actions/locomanipulation/LM27/session_019/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM27/session_019/motions/smplx.npz +2 -2
- actions/locomanipulation/LM27/session_020/annotations.json +28 -0
- actions/locomanipulation/LM27/session_020/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM27/session_020/cameras/slam.npz +3 -0
- actions/locomanipulation/LM27/session_020/meta.json +116 -2
- actions/locomanipulation/LM27/session_020/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM27/session_018/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:464044a7dc07326f571cd354c45412e60f1d6e6524b3db04657975d894403614
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size 11101152
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actions/locomanipulation/LM27/session_019/annotations.json
ADDED
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "LM27",
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"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
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"segments": [
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{
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| 9 |
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"id": "segment1",
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"duration_s": 133.966656,
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.0390159519674258
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}
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| 14 |
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],
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| 15 |
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"episodes": [
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| 16 |
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{
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"id": "b14a5b1b-bb51-4ed8-9768-031747327481",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM27",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0.36,
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| 22 |
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"end_s": 126.923,
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"t_start": 0.399,
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"t_end": 126.962,
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| 25 |
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"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
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| 26 |
+
}
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| 27 |
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]
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| 28 |
+
}
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actions/locomanipulation/LM27/session_019/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,257 @@
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| 1 |
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{
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| 2 |
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"camera_fit": {
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"groups_dropped": [],
|
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"groups_used": 14,
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},
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],
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"usable": true
|
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"left_eye": {
|
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"accepted": true,
|
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"against": [
|
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|
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|
| 35 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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| 5 |
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| 6 |
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| 27 |
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|
| 28 |
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actions/locomanipulation/LM27/session_020/cameras/gsi_online_calibration.json
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actions/locomanipulation/LM27/session_020/cameras/slam.npz
ADDED
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actions/locomanipulation/LM27/session_020/meta.json
CHANGED
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@@ -364,8 +364,8 @@
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|
| 364 |
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|
| 365 |
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|
| 366 |
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|
@@ -540,12 +540,126 @@
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|
| 540 |
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|
| 541 |
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|
| 544 |
"release_path": "actions/locomanipulation/LM27/session_020",
|
| 545 |
"family": "locomanipulation",
|
| 546 |
"primitive": "LM27",
|
| 547 |
"source_session": "20261013/LM27/20261013_032534_session54"
|
| 548 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
| 549 |
"objects": [
|
| 550 |
{
|
| 551 |
"name": "BigBox",
|
|
|
|
| 364 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 365 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 366 |
"hands": {
|
| 367 |
+
"observed": true,
|
| 368 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 369 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 370 |
"hand_marker_offsets_m": {
|
| 371 |
"left": {
|
|
|
|
| 540 |
},
|
| 541 |
"applied": 1
|
| 542 |
},
|
| 543 |
+
"hands_registration": {
|
| 544 |
+
"cameras": {},
|
| 545 |
+
"hands": {
|
| 546 |
+
"left": {
|
| 547 |
+
"offset_deg": 10.0,
|
| 548 |
+
"offset_rotvec": [
|
| 549 |
+
-0.0411,
|
| 550 |
+
0.1205,
|
| 551 |
+
0.1195
|
| 552 |
+
],
|
| 553 |
+
"dev_deg": {
|
| 554 |
+
"median": 14.49,
|
| 555 |
+
"p90": 42.47
|
| 556 |
+
},
|
| 557 |
+
"samples": 3926,
|
| 558 |
+
"accepted": 3209,
|
| 559 |
+
"wrist_pos_err_mm_median": 60.2,
|
| 560 |
+
"per_camera": {
|
| 561 |
+
"head": {
|
| 562 |
+
"samples": 3926,
|
| 563 |
+
"accepted": 3209,
|
| 564 |
+
"gate_deg": 30.0,
|
| 565 |
+
"offset_deg": 10.0,
|
| 566 |
+
"tier": "primary",
|
| 567 |
+
"dev_deg_median": 14.49,
|
| 568 |
+
"wrist_pos_err_mm_median": 60.2
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
+
"frames_by_state": {
|
| 572 |
+
"ace_sample": 12850,
|
| 573 |
+
"interpolated": 526,
|
| 574 |
+
"mean_hand": 2708,
|
| 575 |
+
"no_body_fit": 0
|
| 576 |
+
},
|
| 577 |
+
"observed_fraction": 0.8316,
|
| 578 |
+
"observed_fraction_of_valid": 0.8316,
|
| 579 |
+
"palm_axis_vs_markers_deg": {
|
| 580 |
+
"gsi": 16.35,
|
| 581 |
+
"smplx": 1.11
|
| 582 |
+
},
|
| 583 |
+
"hand_marker_to_mesh_mm": {
|
| 584 |
+
"flat": {
|
| 585 |
+
"median": 9.4,
|
| 586 |
+
"p90": 11.0
|
| 587 |
+
},
|
| 588 |
+
"registered": {
|
| 589 |
+
"median": 12.3,
|
| 590 |
+
"p90": 13.2
|
| 591 |
+
}
|
| 592 |
+
}
|
| 593 |
+
},
|
| 594 |
+
"right": {
|
| 595 |
+
"offset_deg": 25.58,
|
| 596 |
+
"offset_rotvec": [
|
| 597 |
+
0.381,
|
| 598 |
+
-0.2325,
|
| 599 |
+
-0.0094
|
| 600 |
+
],
|
| 601 |
+
"dev_deg": {
|
| 602 |
+
"median": 9.47,
|
| 603 |
+
"p90": 16.77
|
| 604 |
+
},
|
| 605 |
+
"samples": 3908,
|
| 606 |
+
"accepted": 3778,
|
| 607 |
+
"wrist_pos_err_mm_median": 56.1,
|
| 608 |
+
"per_camera": {
|
| 609 |
+
"head": {
|
| 610 |
+
"samples": 3908,
|
| 611 |
+
"accepted": 3778,
|
| 612 |
+
"gate_deg": 30.0,
|
| 613 |
+
"offset_deg": 25.58,
|
| 614 |
+
"tier": "primary",
|
| 615 |
+
"dev_deg_median": 9.47,
|
| 616 |
+
"wrist_pos_err_mm_median": 56.1
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"frames_by_state": {
|
| 620 |
+
"ace_sample": 15138,
|
| 621 |
+
"interpolated": 470,
|
| 622 |
+
"mean_hand": 476,
|
| 623 |
+
"no_body_fit": 0
|
| 624 |
+
},
|
| 625 |
+
"observed_fraction": 0.9704,
|
| 626 |
+
"observed_fraction_of_valid": 0.9704,
|
| 627 |
+
"palm_axis_vs_markers_deg": {
|
| 628 |
+
"gsi": 25.64,
|
| 629 |
+
"smplx": 0.92
|
| 630 |
+
},
|
| 631 |
+
"hand_marker_to_mesh_mm": {
|
| 632 |
+
"flat": {
|
| 633 |
+
"median": 9.1,
|
| 634 |
+
"p90": 14.1
|
| 635 |
+
},
|
| 636 |
+
"registered": {
|
| 637 |
+
"median": 8.7,
|
| 638 |
+
"p90": 12.9
|
| 639 |
+
}
|
| 640 |
+
}
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
"max_dev_deg": 30.0,
|
| 644 |
+
"max_gap_s": 1.0,
|
| 645 |
+
"cameras_used": [
|
| 646 |
+
"head"
|
| 647 |
+
],
|
| 648 |
+
"generated_at_utc": "2026-11-03T22:09:00.452350+00:00",
|
| 649 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 650 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 651 |
+
"wrist_flip_suspect": []
|
| 652 |
+
},
|
| 653 |
"release": {
|
| 654 |
"release_path": "actions/locomanipulation/LM27/session_020",
|
| 655 |
"family": "locomanipulation",
|
| 656 |
"primitive": "LM27",
|
| 657 |
"source_session": "20261013/LM27/20261013_032534_session54"
|
| 658 |
},
|
| 659 |
+
"task": {
|
| 660 |
+
"primitive": "LM27",
|
| 661 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 662 |
+
},
|
| 663 |
"objects": [
|
| 664 |
{
|
| 665 |
"name": "BigBox",
|
actions/locomanipulation/LM27/session_020/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fc463617464a91682633e424cc09a9eea690c4300475ba42941715ce049b5f6b
|
| 3 |
+
size 5296288
|